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Dec 31st, 2021
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  1. # MPG
  2. setp hm2_5i25.0.encoder.05.counter-mode true
  3. loadrt mux4 names=mpg-scale
  4. addf mpg-scale servo-thread
  5. loadrt ilowpass
  6. addf ilowpass.0 servo-thread
  7. loadrt or2 count=2
  8. addf or2.0 servo-thread
  9. addf or2.1 servo-thread
  10.  
  11. setp ilowpass.0.gain 0.02
  12. setp ilowpass.0.scale 1000
  13. setp mpg-scale.in0 0.0
  14. setp mpg-scale.in1 -0.0000001
  15. setp mpg-scale.in2 -0.000001
  16. setp mpg-scale.in3 -0.00001
  17.  
  18. net jog-smoothing ilowpass.0.in <= hm2_5i25.0.encoder.05.count
  19. net jog-position <= ilowpass.0.out
  20. net jog-position => joint.0.jog-counts axis.x.jog-counts
  21. net jog-position => joint.1.jog-counts axis.y.jog-counts
  22. net jog-position => joint.2.jog-counts axis.z.jog-counts
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